Difference between revisions of "Explorer/PPRZ"
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[[Explorer/PPRZ/Configuration]] |
Revision as of 03:57, 28 June 2020
<!DOCTYPE airframe SYSTEM "../../airframe.dtd"> <airframe name="Quadricopter XP"> <description> * Autopilot: Tawaki/ Apogee * Actuators: 4 in 1 Holybro BLHELI ESC * Telemetry: XBee and Wifibroadcast (compagnon board) * GPS: ublox M8P (optional DGPS) or Datalink * RC: FrSky XM+ or Datalink IMU Apogee : - MPU6050 (acc+gyro), - MPU9150 (acc+gyro+mag) = MPU6050 + AK8975 MAG Apogee (AK8975 on I2C1) or on external GPS board (LIS3MDL on I2C1) or Datalink BARO Apogee (MPL3115A2 on I2C1) </description> <firmware name="rotorcraft"> <configure name="PERIODIC_FREQUENCY" value="1000"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/> <configure name="KILL_AS_FAILSAFE" value="1"/> <!-- OPTION 1A & 1B --> <target name="ap" board="apogee_1.0_chibios"/> <!-- OPTION 1C --> <!-- <target name="nps" board="pc"/> --> </firmware> <!-- apogee_1.0_chibios --> <!-- OPTION 1A --> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_mpu9150.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_imu_apogee_mpu9150.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_target_flying.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_apogee.xml"/> <!-- OPTION 1B --> <!-- <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_lis3mdl.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_imu_apogee_lis3mdl.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_target_flying.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_apogee.xml"/> --> <!-- OPTION 1C --> <!-- <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_tawaki.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_mpu9150.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_lis3mdl.xml"/> --> <!-- tawaki_1.0 & apogee_1.0_chibios --> <!-- OPTION 2A --> <!-- include href="conf/airframes/ENAC/quadrotor/xp/xp_option_indoor.xml"/--> <!-- OPTION 2B --> <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_outdoor.xml"/> <!-- OPTION 2C --> <!-- <include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_nps.xml"/> --> <!-- All targets --> <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_rate.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_attitude.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_guidance.xml"/> <include href="conf/airframes/ENAC/quadrotor/xp/xp_common_modules.xml"/> </airframe>